Shovel

Abstract

A shovel includes a traveling body, an upper turning body turnably provided on the traveling body, an attachment including a boom, an arm, and a bucket and attached to the upper turning body, and a processor. The processor is configured to correct the motion of the attachment in such a manner as to control a slip of the traveling body toward the back in the extension direction of the attachment.

What is claimed is: 
     
       1. A shovel comprising:
 a traveling body; 
 an upper turning body turnably provided on the traveling body, 
 an attachment including a boom, an arm, and a bucket and attached to the upper turning body; and 
 a processor configured to correct a motion of the attachment such that F 1  sin η 1 <μMg holds, where η 1  is an angle formed by a boom cylinder of the attachment and a vertical axis, F 1  is a force exerted on the upper turning body by the boom cylinder, μ is a coefficient of static friction, M is a weight of a vehicle body of the shovel, and g is gravitational acceleration. 
 
     
     
       2. The shovel as claimed in  claim 1 , further comprising:
 a sensor configured to detect a motion of the traveling body, 
 wherein the processor is configured to correct the motion of the attachment in response to detection of a slip of the traveling body or a sign thereof based on an output of the sensor. 
 
     
     
       3. The shovel as claimed in  claim 1 , wherein the processor is configured to be disabled from correcting the motion of the attachment such that F 1  sin η 1 <μMg holds, based on an input of an operator. 
     
     
       4. The shovel as claimed in  claim 1 , wherein the processor is further configured to notify an operator of and alert the operator to an occurrence of a slip of the traveling body. 
     
     
       5. The shovel as claimed in  claim 1 , wherein the processor is configured to correct a motion of the boom cylinder. 
     
     
       6. The shovel as claimed in  claim 2 , wherein the processor is configured to correct the motion of the boom cylinder based on a rod pressure and a bottom pressure of the boom cylinder. 
     
     
       7. The shovel as claimed in  claim 1 , wherein the processor is further configured to control a rod pressure of the boom cylinder. 
     
     
       8. The shovel as claimed in  claim 1 , wherein the processor is further configured to correct a motion of an arm cylinder of the attachment. 
     
     
       9. The shovel as claimed in  claim 8 , wherein the processor is configured to correct the motion of the arm cylinder in such a manner as to prevent a bottom pressure of the arm cylinder from exceeding a maximum allowable value.